Modeling and control of dual-motor driving system with backlash

摘要

This paper is devoted to describe the modeling and control of dual-motor driving system which have been marketed since the early 1960s in a number of systems to overcome the backlash. Based on a rotary model for spur gear dynamics, the dynamic model of the dual-motor driving system with backlash can be derived, including the varying effect of the impact force when the number of contact tooth pair alternates during gear meshing. Under this proposed dynamic model of the dual-motor driving systems, positioning controllers with biasing-torque control logic are designed to overcome the backlash effects. Finally, simulation programs are developed in MATLAB and experiments are practically performed to evaluate the proposed model and controller on a PC-based control environment.